WO2009069395A1 - 内視鏡湾曲制御装置及び内視鏡システム - Google Patents

内視鏡湾曲制御装置及び内視鏡システム Download PDF

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Publication number
WO2009069395A1
WO2009069395A1 PCT/JP2008/068790 JP2008068790W WO2009069395A1 WO 2009069395 A1 WO2009069395 A1 WO 2009069395A1 JP 2008068790 W JP2008068790 W JP 2008068790W WO 2009069395 A1 WO2009069395 A1 WO 2009069395A1
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WO
WIPO (PCT)
Prior art keywords
curve
operation mode
section
endoscope
switching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/068790
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English (en)
French (fr)
Inventor
Hideki Tanaka
Jun Hasegawa
Toshio Nakamura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Medical Systems Corp
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Olympus Medical Systems Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Medical Systems Corp filed Critical Olympus Medical Systems Corp
Priority to EP08853729.5A priority Critical patent/EP2215960B1/en
Priority to JP2009543715A priority patent/JP5153787B2/ja
Publication of WO2009069395A1 publication Critical patent/WO2009069395A1/ja
Priority to US12/764,482 priority patent/US8211009B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

　内視鏡湾曲制御装置は、内視鏡画像から、挿入部が挿入される管腔内の管腔暗部に関する画像特徴量を算出する画像特徴量算出部と、管腔暗部の位置を挿入目標として、挿入部先端をその位置に向ける第１の湾曲動作モードと履歴情報を参照することにより推定される管腔暗部の位置の方向に挿入部先端を向ける第２の湾曲動作モードとの一方の湾曲動作モードにより、湾曲部を湾曲制御する湾曲制御部と、算出される画像特徴量から第１の切替条件に従って、一方の湾曲動作モードから他方の湾曲動作モードへ切替を行う動作モード切替部と、第１の切替条件から第２の切替条件に変更する切替条件変更部と、を備える。
PCT/JP2008/068790 2007-11-29 2008-10-16 内視鏡湾曲制御装置及び内視鏡システム Ceased WO2009069395A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08853729.5A EP2215960B1 (en) 2007-11-29 2008-10-16 Endoscope curve control apparatus
JP2009543715A JP5153787B2 (ja) 2007-11-29 2008-10-16 内視鏡湾曲制御装置及び内視鏡システム
US12/764,482 US8211009B2 (en) 2007-11-29 2010-04-21 Endoscope bending control apparatus and endoscope system

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2007-309233 2007-11-29
JP2007309233 2007-11-29
JP2007-317369 2007-12-07
JP2007317369 2007-12-07
JP2007334898 2007-12-26
JP2007-334898 2007-12-26

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/764,482 Continuation US8211009B2 (en) 2007-11-29 2010-04-21 Endoscope bending control apparatus and endoscope system

Publications (1)

Publication Number Publication Date
WO2009069395A1 true WO2009069395A1 (ja) 2009-06-04

Family

ID=40678298

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/068790 Ceased WO2009069395A1 (ja) 2007-11-29 2008-10-16 内視鏡湾曲制御装置及び内視鏡システム

Country Status (4)

Country Link
US (1) US8211009B2 (ja)
EP (1) EP2215960B1 (ja)
JP (1) JP5153787B2 (ja)
WO (1) WO2009069395A1 (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102238894A (zh) * 2009-09-30 2011-11-09 奥林巴斯医疗株式会社 内窥镜装置
CN102770060A (zh) * 2010-03-17 2012-11-07 奥林巴斯医疗株式会社 内窥镜系统
JP2019000351A (ja) * 2017-06-15 2019-01-10 オリンパス株式会社 内視鏡制御装置、内視鏡システム及びプログラム
JP2019170638A (ja) * 2018-03-28 2019-10-10 オリンパス株式会社 内視鏡システム
WO2021145051A1 (ja) * 2020-01-16 2021-07-22 オリンパス株式会社 内視鏡システム
WO2021156926A1 (ja) * 2020-02-03 2021-08-12 オリンパス株式会社 内視鏡制御装置、内視鏡制御方法および内視鏡制御プログラム
JPWO2021166103A1 (ja) * 2020-02-19 2021-08-26
EP3991632A1 (en) 2020-10-28 2022-05-04 FUJI-FILM Corporation Endoscope system and endoscope device
CN119354491A (zh) * 2024-10-17 2025-01-24 电子科技大学 一种基于机器视觉改进的内窥镜光学性能测试方法

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JP4624486B2 (ja) * 2009-01-29 2011-02-02 オリンパスメディカルシステムズ株式会社 内視鏡システム
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US9492063B2 (en) 2009-06-18 2016-11-15 Endochoice Innovation Center Ltd. Multi-viewing element endoscope
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US9713417B2 (en) 2009-06-18 2017-07-25 Endochoice, Inc. Image capture assembly for use in a multi-viewing elements endoscope
US12137873B2 (en) 2009-06-18 2024-11-12 Endochoice, Inc. Compact multi-viewing element endoscope system
US8696547B2 (en) * 2009-09-17 2014-04-15 Broncus Medical, Inc. System and method for determining airway diameter using endoscope
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JP6012950B2 (ja) * 2011-10-14 2016-10-25 オリンパス株式会社 湾曲動作システム
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WO2013175939A1 (ja) * 2012-05-23 2013-11-28 オリンパスメディカルシステムズ株式会社 電子内視鏡システム
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CN104797186B (zh) * 2013-03-06 2016-10-12 奥林巴斯株式会社 内窥镜系统
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DK177984B9 (en) * 2013-11-12 2015-03-02 Simonsen & Weel As Device for endoscopy
WO2015110937A2 (en) * 2014-01-24 2015-07-30 Koninklijke Philips N.V. Sensorless force control for transeopagel echocardiography probe
JP6278737B2 (ja) 2014-02-26 2018-02-14 オリンパス株式会社 医療用システムの作動方法
WO2016079789A1 (ja) * 2014-11-17 2016-05-26 オリンパス株式会社 内視鏡装置
US10646288B2 (en) * 2017-04-12 2020-05-12 Bio-Medical Engineering (HK) Limited Automated steering systems and methods for a robotic endoscope
CN111936030B (zh) * 2018-06-22 2024-09-20 奥林巴斯株式会社 界标估计方法、内窥镜装置及存储介质
EP3826526A1 (en) * 2018-07-25 2021-06-02 Universität Zürich Video-endoscopic intubation stylet
CN113518576A (zh) * 2019-03-25 2021-10-19 奥林巴斯株式会社 移动辅助系统、移动辅助方法以及移动辅助程序
JP7681294B2 (ja) * 2021-04-14 2025-05-22 ｉ－ＰＲＯ株式会社 内視鏡システム
CN118730174A (zh) * 2024-06-28 2024-10-01 河北铁鱼电子科技有限公司 一种轴向环形六自由度磁定位传感器及其制备方法
CN119033312B (zh) * 2024-11-01 2024-12-27 北京云力境安科技有限公司 一种软式内镜操控系统的控制方法、装置、设备及介质

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Cited By (23)

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CN102238894A (zh) * 2009-09-30 2011-11-09 奥林巴斯医疗株式会社 内窥镜装置
EP2347694A4 (en) * 2009-09-30 2012-03-14 Olympus Medical Systems Corp ENDOSCOPE DEVICE
US8480568B2 (en) 2009-09-30 2013-07-09 Olympus Medical Systems Corp. Endoscope apparatus with automatic selection between automated insertion direction search methods
CN102238894B (zh) * 2009-09-30 2014-12-03 奥林巴斯医疗株式会社 内窥镜装置
CN102770060A (zh) * 2010-03-17 2012-11-07 奥林巴斯医疗株式会社 内窥镜系统
EP2517613A4 (en) * 2010-03-17 2012-12-05 Olympus Medical Systems Corp ENDOSCOPE SYSTEM
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JP2019000351A (ja) * 2017-06-15 2019-01-10 オリンパス株式会社 内視鏡制御装置、内視鏡システム及びプログラム
JP2019170638A (ja) * 2018-03-28 2019-10-10 オリンパス株式会社 内視鏡システム
WO2021145051A1 (ja) * 2020-01-16 2021-07-22 オリンパス株式会社 内視鏡システム
JPWO2021145051A1 (ja) * 2020-01-16 2021-07-22
JP7346598B2 (ja) 2020-01-16 2023-09-19 オリンパス株式会社 内視鏡システム、および内視鏡システムの情報処理方法
US12433476B2 (en) 2020-01-16 2025-10-07 Olympus Corporation Endoscope having fastener for bundling wire sheaths in flexible portion and endoscope system
US12446762B2 (en) 2020-01-16 2025-10-21 Olympus Corporation Endoscope system, control device, information processing method
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WO2021156926A1 (ja) * 2020-02-03 2021-08-12 オリンパス株式会社 内視鏡制御装置、内視鏡制御方法および内視鏡制御プログラム
JPWO2021166103A1 (ja) * 2020-02-19 2021-08-26
WO2021166103A1 (ja) * 2020-02-19 2021-08-26 オリンパス株式会社 内視鏡システム、管腔構造算出装置及び管腔構造情報の作成方法
JP7423740B2 (ja) 2020-02-19 2024-01-29 オリンパス株式会社 内視鏡システム、管腔構造算出装置、管腔構造算出装置の作動方法及び管腔構造情報作成プログラム
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EP3991632A1 (en) 2020-10-28 2022-05-04 FUJI-FILM Corporation Endoscope system and endoscope device
CN119354491A (zh) * 2024-10-17 2025-01-24 电子科技大学 一种基于机器视觉改进的内窥镜光学性能测试方法

Also Published As

Publication number Publication date
EP2215960A1 (en) 2010-08-11
EP2215960B1 (en) 2017-12-27
EP2215960A4 (en) 2011-12-21
JPWO2009069395A1 (ja) 2011-04-07
JP5153787B2 (ja) 2013-02-27
US8211009B2 (en) 2012-07-03
US20100204547A1 (en) 2010-08-12

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